Merge pull request #42 from aiplan4eu/39-fix-constant-object-monitoring

39 fix constant object monitoring

tests/components/test_expression_manager.py

@@ -1,4 +1,3 @@
-import ast
 import unittest
 
 from unified_planning.shortcuts import *  # pylint: disable=unused-wildcard-import
@@ -10,6 +9,23 @@
 
 
 # Example fluents
+
+
+class TestObject:
+    def __init__(self, value: int):
+        """Test object."""
+        self.value = value
+
+    def __eq__(self, other):
+        return self.value == other.value
+
+    def __hash__(self):
+        return hash(self.value)
+
+    def __str__(self) -> str:
+        return "TestObject"
+
+
 def fluent_bool_1_fun():
     """Fluent bool 1."""
     return True
@@ -45,6 +61,11 @@ def fluent_arg_real_1_fun(arg: float):
     return arg
 
 
+def fluent_arg_object(arg: TestObject) -> TestObject:
+    """Fluent real 1."""
+    return arg
+
+
 class TestExpressionManager(unittest.TestCase):
     """Test conversion of FNode to AST tree."""
 
@@ -59,6 +80,9 @@ def setUp(self) -> None:
         self._fluent_arg_int_1 = self.bridge.create_fluent_from_function(fluent_arg_int_1_fun)
         self._fluent_arg_real_1 = self.bridge.create_fluent_from_function(fluent_arg_real_1_fun)
 
+        self.bridge.create_types([TestObject])
+        self._fluent_arg_object = self.bridge.create_fluent_from_function(fluent_arg_object)
+
         self.ast = ExpressionManager()
 
     def test_simple_fluents(self):
@@ -130,6 +154,20 @@ def test_simple_nested_fluents_with_args(self):
         actual = eval(compile(result, filename="<ast>", mode="eval"))
         self.assertEqual(actual, False)
 
+        obj = self.bridge.create_object("obj", TestObject(1))
+        result = self.ast.convert(
+            Equals(self._fluent_arg_object(obj), self._fluent_arg_object(obj))
+        )
+        actual = eval(compile(result, filename="<ast>", mode="eval"))
+        self.assertEqual(actual, True)
+
+        obj1 = self.bridge.create_object("obj1", TestObject(2))
+        result = self.ast.convert(
+            Equals(self._fluent_arg_object(obj), self._fluent_arg_object(obj1))
+        )
+        actual = eval(compile(result, filename="<ast>", mode="eval"))
+        self.assertEqual(actual, False)
+
 
 if __name__ == "__main__":
     t = TestExpressionManager()

up_esb/components/expression_manager.py

@@ -91,7 +91,7 @@ def _map_expression(self, expression: FNode):
                 elif exp.is_real_constant():
                     return ast.Constant(value=exp.real_constant_value())
                 elif exp.is_object_exp():
-                    return ast.Constant(value=exp.object())
+                    return ast.Name(id=str(exp.object().name), ctx=ast.Load())
 
                 raise ValueError(f"Constant `{str(exp)}` not supported.")